mirror of https://github.com/gnss-sdr/gnss-sdr
286 lines
11 KiB
C++
286 lines
11 KiB
C++
/*!
|
|
* \file glonass_l1_ca_pcps_acquisition_test.cc
|
|
* \brief Tests a PCPS acquisition block for Glonass L1 C/A signals
|
|
* \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
|
|
* \author Luis Esteve, 2017. luis(at)epsilon-formacion.com
|
|
*
|
|
*
|
|
* -----------------------------------------------------------------------------
|
|
*
|
|
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
|
|
* This file is part of GNSS-SDR.
|
|
*
|
|
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
|
|
* SPDX-License-Identifier: GPL-3.0-or-later
|
|
*
|
|
* -----------------------------------------------------------------------------
|
|
*/
|
|
|
|
#include "concurrent_queue.h"
|
|
#include "freq_xlating_fir_filter.h"
|
|
#include "glonass_l1_ca_pcps_acquisition.h"
|
|
#include "gnss_block_interface.h"
|
|
#include "gnss_sdr_valve.h"
|
|
#include "gnss_synchro.h"
|
|
#include "in_memory_configuration.h"
|
|
#include <boost/make_shared.hpp>
|
|
#include <gnuradio/analog/sig_source_waveform.h>
|
|
#include <gnuradio/blocks/file_source.h>
|
|
#include <gnuradio/blocks/null_sink.h>
|
|
#include <gnuradio/top_block.h>
|
|
#include <gtest/gtest.h>
|
|
#include <pmt/pmt.h>
|
|
#include <chrono>
|
|
#include <cstdlib>
|
|
#include <utility>
|
|
#if HAS_GENERIC_LAMBDA
|
|
#else
|
|
#include <boost/bind/bind.hpp>
|
|
#endif
|
|
#ifdef GR_GREATER_38
|
|
#include <gnuradio/analog/sig_source.h>
|
|
#else
|
|
#include <gnuradio/analog/sig_source_c.h>
|
|
#endif
|
|
#if PMT_USES_BOOST_ANY
|
|
namespace wht = boost;
|
|
#else
|
|
namespace wht = std;
|
|
#endif
|
|
|
|
// ######## GNURADIO BLOCK MESSAGE RECEVER #########
|
|
class GlonassL1CaPcpsAcquisitionTest_msg_rx;
|
|
|
|
using GlonassL1CaPcpsAcquisitionTest_msg_rx_sptr = gnss_shared_ptr<GlonassL1CaPcpsAcquisitionTest_msg_rx>;
|
|
|
|
GlonassL1CaPcpsAcquisitionTest_msg_rx_sptr GlonassL1CaPcpsAcquisitionTest_msg_rx_make();
|
|
|
|
class GlonassL1CaPcpsAcquisitionTest_msg_rx : public gr::block
|
|
{
|
|
private:
|
|
friend GlonassL1CaPcpsAcquisitionTest_msg_rx_sptr GlonassL1CaPcpsAcquisitionTest_msg_rx_make();
|
|
void msg_handler_channel_events(const pmt::pmt_t msg);
|
|
GlonassL1CaPcpsAcquisitionTest_msg_rx();
|
|
|
|
public:
|
|
int rx_message;
|
|
~GlonassL1CaPcpsAcquisitionTest_msg_rx(); //!< Default destructor
|
|
};
|
|
|
|
|
|
GlonassL1CaPcpsAcquisitionTest_msg_rx_sptr GlonassL1CaPcpsAcquisitionTest_msg_rx_make()
|
|
{
|
|
return GlonassL1CaPcpsAcquisitionTest_msg_rx_sptr(new GlonassL1CaPcpsAcquisitionTest_msg_rx());
|
|
}
|
|
|
|
|
|
void GlonassL1CaPcpsAcquisitionTest_msg_rx::msg_handler_channel_events(const pmt::pmt_t msg)
|
|
{
|
|
try
|
|
{
|
|
int64_t message = pmt::to_long(std::move(msg));
|
|
rx_message = message;
|
|
}
|
|
catch (const wht::bad_any_cast& e)
|
|
{
|
|
std::cout << "msg_handler_telemetry Bad any cast!\n";
|
|
rx_message = 0;
|
|
}
|
|
}
|
|
|
|
|
|
GlonassL1CaPcpsAcquisitionTest_msg_rx::GlonassL1CaPcpsAcquisitionTest_msg_rx() : gr::block("GlonassL1CaPcpsAcquisitionTest_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
|
|
{
|
|
this->message_port_register_in(pmt::mp("events"));
|
|
this->set_msg_handler(pmt::mp("events"),
|
|
#if HAS_GENERIC_LAMBDA
|
|
[this](auto&& PH1) { msg_handler_channel_events(PH1); });
|
|
#else
|
|
#if USE_BOOST_BIND_PLACEHOLDERS
|
|
boost::bind(&GlonassL1CaPcpsAcquisitionTest_msg_rx::msg_handler_channel_events, this, boost::placeholders::_1));
|
|
#else
|
|
boost::bind(&GlonassL1CaPcpsAcquisitionTest_msg_rx::msg_handler_channel_events, this, _1));
|
|
#endif
|
|
#endif
|
|
rx_message = 0;
|
|
}
|
|
|
|
|
|
GlonassL1CaPcpsAcquisitionTest_msg_rx::~GlonassL1CaPcpsAcquisitionTest_msg_rx() = default;
|
|
|
|
|
|
// ###########################################################
|
|
|
|
class GlonassL1CaPcpsAcquisitionTest : public ::testing::Test
|
|
{
|
|
protected:
|
|
GlonassL1CaPcpsAcquisitionTest()
|
|
{
|
|
config = std::make_shared<InMemoryConfiguration>();
|
|
item_size = sizeof(gr_complex);
|
|
gnss_synchro = Gnss_Synchro();
|
|
}
|
|
|
|
~GlonassL1CaPcpsAcquisitionTest() = default;
|
|
|
|
void init();
|
|
|
|
gr::top_block_sptr top_block;
|
|
std::shared_ptr<InMemoryConfiguration> config;
|
|
Gnss_Synchro gnss_synchro;
|
|
size_t item_size;
|
|
};
|
|
|
|
|
|
void GlonassL1CaPcpsAcquisitionTest::init()
|
|
{
|
|
gnss_synchro.Channel_ID = 0;
|
|
gnss_synchro.System = 'R';
|
|
std::string signal = "1G";
|
|
signal.copy(gnss_synchro.Signal, 2, 0);
|
|
gnss_synchro.PRN = 1;
|
|
config->set_property("GNSS-SDR.internal_fs_sps", "62314000");
|
|
config->set_property("InputFilter.IF", "9540000");
|
|
config->set_property("InputFilter.input_item_type", "gr_complex");
|
|
config->set_property("InputFilter.output_item_type", "gr_complex");
|
|
config->set_property("InputFilter.taps_item_type", "float");
|
|
config->set_property("InputFilter.number_of_taps", "11");
|
|
config->set_property("InputFilter.number_of_bands", "2");
|
|
config->set_property("InputFilter.band1_begin", "0.0");
|
|
config->set_property("InputFilter.band1_end", "0.97");
|
|
config->set_property("InputFilter.band2_begin", "0.98");
|
|
config->set_property("InputFilter.band2_end", "1.0");
|
|
config->set_property("InputFilter.ampl1_begin", "1.0");
|
|
config->set_property("InputFilter.ampl1_end", "1.0");
|
|
config->set_property("InputFilter.ampl2_begin", "0.0");
|
|
config->set_property("InputFilter.ampl2_end", "0.0");
|
|
config->set_property("InputFilter.band1_error", "1.0");
|
|
config->set_property("InputFilter.band2_error", "1.0");
|
|
config->set_property("InputFilter.filter_type", "bandpass");
|
|
config->set_property("InputFilter.grid_density", "16");
|
|
config->set_property("InputFilter.sampling_frequency", "62314000");
|
|
config->set_property("Acquisition_1G.item_type", "gr_complex");
|
|
config->set_property("Acquisition_1G.coherent_integration_time_ms", "1");
|
|
config->set_property("Acquisition_1G.dump", "true");
|
|
config->set_property("Acquisition_1G.dump_filename", "./acquisition");
|
|
config->set_property("Acquisition_1G.implementation", "Glonass_L1_CA_PCPS_Acquisition");
|
|
config->set_property("Acquisition_1G.threshold", "0.001");
|
|
config->set_property("Acquisition_1G.doppler_max", "5000");
|
|
config->set_property("Acquisition_1G.doppler_step", "500");
|
|
config->set_property("Acquisition_1G.repeat_satellite", "false");
|
|
// config->set_property("Acquisition_1G.pfa", "0.0");
|
|
}
|
|
|
|
|
|
TEST_F(GlonassL1CaPcpsAcquisitionTest, Instantiate)
|
|
{
|
|
init();
|
|
auto acquisition = gnss_make_shared<GlonassL1CaPcpsAcquisition>(config.get(), "Acquisition_1G", 1, 0);
|
|
}
|
|
|
|
|
|
TEST_F(GlonassL1CaPcpsAcquisitionTest, ConnectAndRun)
|
|
{
|
|
int fs_in = 62314000;
|
|
int nsamples = 62314;
|
|
std::chrono::time_point<std::chrono::system_clock> begin, end;
|
|
std::chrono::duration<double> elapsed_seconds(0);
|
|
std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
|
|
|
|
top_block = gr::make_top_block("Acquisition test");
|
|
init();
|
|
auto acquisition = gnss_make_shared<GlonassL1CaPcpsAcquisition>(config.get(), "Acquisition_1G", 1, 0);
|
|
|
|
auto msg_rx = GlonassL1CaPcpsAcquisitionTest_msg_rx_make();
|
|
|
|
ASSERT_NO_THROW({
|
|
acquisition->connect(top_block);
|
|
auto source = gr::analog::sig_source_c::make(fs_in, gr::analog::GR_SIN_WAVE, 1000, 1, gr_complex(0));
|
|
auto valve = gnss_sdr_make_valve(sizeof(gr_complex), nsamples, queue.get());
|
|
top_block->connect(source, 0, valve, 0);
|
|
top_block->connect(valve, 0, acquisition->get_left_block(), 0);
|
|
top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
|
|
}) << "Failure connecting the blocks of acquisition test.";
|
|
|
|
EXPECT_NO_THROW({
|
|
begin = std::chrono::system_clock::now();
|
|
top_block->run(); // Start threads and wait
|
|
end = std::chrono::system_clock::now();
|
|
elapsed_seconds = end - begin;
|
|
}) << "Failure running the top_block.";
|
|
|
|
std::cout << "Processed " << nsamples << " samples in " << elapsed_seconds.count() * 1e6 << " microseconds\n";
|
|
}
|
|
|
|
|
|
TEST_F(GlonassL1CaPcpsAcquisitionTest, ValidationOfResults)
|
|
{
|
|
std::chrono::time_point<std::chrono::system_clock> begin, end;
|
|
std::chrono::duration<double> elapsed_seconds(0);
|
|
top_block = gr::make_top_block("Acquisition test");
|
|
|
|
double expected_delay_samples = 31874;
|
|
double expected_doppler_hz = -9500;
|
|
init();
|
|
std::shared_ptr<GlonassL1CaPcpsAcquisition> acquisition = std::make_shared<GlonassL1CaPcpsAcquisition>(config.get(), "Acquisition_1G", 1, 0);
|
|
std::shared_ptr<FreqXlatingFirFilter> input_filter = std::make_shared<FreqXlatingFirFilter>(config.get(), "InputFilter", 1, 1);
|
|
auto msg_rx = GlonassL1CaPcpsAcquisitionTest_msg_rx_make();
|
|
|
|
ASSERT_NO_THROW({
|
|
acquisition->set_channel(1);
|
|
}) << "Failure setting channel.";
|
|
|
|
ASSERT_NO_THROW({
|
|
acquisition->set_gnss_synchro(&gnss_synchro);
|
|
}) << "Failure setting gnss_synchro.";
|
|
|
|
ASSERT_NO_THROW({
|
|
acquisition->set_threshold(0.005);
|
|
}) << "Failure setting threshold.";
|
|
|
|
ASSERT_NO_THROW({
|
|
acquisition->set_doppler_max(10000);
|
|
}) << "Failure setting doppler_max.";
|
|
|
|
ASSERT_NO_THROW({
|
|
acquisition->set_doppler_step(500);
|
|
}) << "Failure setting doppler_step.";
|
|
|
|
ASSERT_NO_THROW({
|
|
acquisition->connect(top_block);
|
|
}) << "Failure connecting acquisition to the top_block.";
|
|
|
|
acquisition->set_local_code();
|
|
acquisition->set_state(1); // Ensure that acquisition starts at the first sample
|
|
acquisition->init();
|
|
|
|
ASSERT_NO_THROW({
|
|
std::string path = std::string(TEST_PATH);
|
|
std::string file = path + "signal_samples/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat";
|
|
const char* file_name = file.c_str();
|
|
gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(gr_complex), file_name, false);
|
|
top_block->connect(file_source, 0, input_filter->get_left_block(), 0);
|
|
top_block->connect(input_filter->get_right_block(), 0, acquisition->get_left_block(), 0);
|
|
top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
|
|
}) << "Failure connecting the blocks of acquisition test.";
|
|
|
|
EXPECT_NO_THROW({
|
|
begin = std::chrono::system_clock::now();
|
|
top_block->run(); // Start threads and wait
|
|
end = std::chrono::system_clock::now();
|
|
elapsed_seconds = end - begin;
|
|
}) << "Failure running the top_block.";
|
|
|
|
uint64_t nsamples = gnss_synchro.Acq_samplestamp_samples;
|
|
std::cout << "Acquired " << nsamples << " samples in " << elapsed_seconds.count() * 1e6 << " microseconds\n";
|
|
|
|
ASSERT_EQ(1, msg_rx->rx_message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";
|
|
|
|
double delay_error_samples = std::abs(expected_delay_samples - gnss_synchro.Acq_delay_samples);
|
|
float delay_error_chips = static_cast<float>(delay_error_samples) * 511.0 / 62316.0;
|
|
double doppler_error_hz = std::abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
|
|
|
|
EXPECT_LE(doppler_error_hz, 666) << "Doppler error exceeds the expected value: 666 Hz = 2/(3*integration period)";
|
|
EXPECT_LT(delay_error_chips, 0.5) << "Delay error exceeds the expected value: 0.5 chips";
|
|
}
|